Collision avoidance system



April 27, 1965 J. s. MoRREl. ETAL 3,181,144

COLLISION AVOIDANCE SYSTEM Filed Nov. 18, 1960 55 Sheets-Sheet 1 F/G. U v

MEOLNSTEAD @Y @JQ/@m ATTORNEY April 27, 1965 J. S. MORREL ETAL COLLISION AVOIDANCE SYSTEM 55 Sheets-Sheet 2 Filed Nov. 18. 1960 F/G. C.

l 2 At CONSTANT INVENTOR. JOHN S. MGRREL` ET AL.

April 27, 1965 J. s. MORREL ETAL 3,181,144

COLLIS ION AVOIDANCE SYSTEM Filed Nov, 1e, 19Go 55 sheets-sheet "is F/G-f- INTRUDER TTT PROTECTED CRAFT r *h 42. zZ-s2 T r: 2s Z zl 2 I I-o.5,u SECOND (A) TRANSMITTED SIGNAL 22g 2n A 222+ 2n DIRECT s PULSE DIRECT S PULSE PULSE KM PULSE @W (b) RECEIVED SIGNAL PROXIMITY 4h OFF INTERVAL INTERVAL I-4h.I I* *I ALTITUDE (c) GATING SEQUENCE INVENTOR.

JOHN S. MORREL ET ALA ATTORNEY April 27, 1965 J. s. MORREL ETAL 3,181,144

COLLIS ION AVOIDANCE SYSTEM Filed Nov. 18. 1960 55 Sheets-Sheet 4 SPECULAR REFLECTION MANY REFLECTIONS-BUT THERE IS ONLY ONE FIRST BOUNCE IS STILL SPECULAR.

I .|///THE ELLIPSE OF REFLECTION IS THE IMPORTANT THING,NOT THE POINT OF REFLECTION.

\ A I B y//ELLIPSE OF REFLECTION AND I LOCUS OF CONSTANT SIS HYPERBDLIC FOR 0| AND Q THE r IS NOT THE SAME,BUT THES IS THE SAME.

` JNVENTOR.

JOHN S. MORREL ET AL.

f A* I' IF Q. AND Q3 ARE MISTAKEN FoR Q2 AND 0+ BY I THE RANGE ERRoRs ARE LARGE. O7 I BUT PQ5+o,o3=Po4-2Q2o4,vERY NEARLY P ..TIME ERRORS ARE STILL SMALL. ATTORNEY April 27, 1965 J. s. MORREL ETAL 3,181,144

COLLISION AVOIDANCE SYSTEM Filed Nov. 18, 1960 55 Sheets-Sheet 5 F/GJ.

OAT|NG a s COMPUTER ANTENNA DUPLExER REcElvER MEAsURlNG AND Ik j 'k sEcTlON MANEuvER l0 20 30 |NO|cATOR TIMER LaaO 1 TRIGOER L|OO UNIT .70

401 O? A TIMETEFSQOO LTlTUOE TRANSMITTER CONVERTER TRANsDUcER S/C (MICROSECONDS) "OFFI`l lNTERvAL O 5 lO l5 2O 25W*` 55 4O 45 5o 55 ALTITUDE (THOUSANDS OE FEET) INVENTOR.

JOHN S. MORREL ET AL.

ATTORNEY Aprll 27, 1965 J. s. MORREI. ETAL coLLIsIoN AvoIDANcE SYSTEM 55 Sheets-Sheet 6 Filed Nov. 18. 1960 April 27,` 1965 J. s. MoRREL ETAL coLLIsIoN AvoIDANcE SYSTEM 55 Sheets-Sheet 7 Filed Nov. 18. 1960 ATTORNEY April 27, 1965 J. s. MoRREl. ETAL 3,181,144

COLLISION AVOIDANCE SYSTEM Filed Nov. 1:3. 1960 55 Sheets-Sheet 8 wmmJDa ON WIIIIJ L TNNT Apnl 27, 1965 J. s. MORREL ETAL COLLISION AVOIDANCE SYSTEM 55 Sheets-Sheet 9 Filed NOV. 18. 1960 DIRECT I REC SIGNAL B C D E .r u A m O L A N W O l 45 O OO S 6666 R RNW A A O m umn o A LAL m H UHU A P MPM S SCHMITT TRIGGER 2O MILES V- IS gute interval Vwn Ammde Demy zomiles IllllllI|IIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIII IIIIlIlIIIIIIIIIIIIIIIIIIIIII 0 [OMS IIIIlIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIlIlIIIIIIUIIIILJIIIIIIIIIIIIIIIIIIIIIIIIIIII T FOR PULSE INVENTOR.

JOHN S. MORREL ETAL.

AT RNEY Aprll 27, 1965 J. s. MoRREl. ETAI.

COLLISION AVOIDANCE SYSTEM 55 Sheets-Sheet 10 Filed Nov. 18. 1960 Apr1l27,`1965 J. s. MoRREL ErAL 3,181,144

\ COLLISION AVOIDANCE SYSTEM Filed 18. 1960 55 Sheets-Sheet l1 INVENTOR.

JOHN S. MORREL ET AL. 13% @uw m. OOM.

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EEZ mam/E532 ...D9-.8 wDm EwmEDZ XBGNI 833309 BAO 133309 BWLL .L3IH S OVSE SVBW-S BlItIM 833303 ATTORNEY April 27, 1965 J. s. MORREL ETAL 3,181,144

COLLISION VOIDANCE SYSTEM 55 Sheets-Sheet 12 Filed Nov. 18. 1960 FIGJOA DRUM Q FEUX READ AMP voLTs (INPUT) FmsT FF READ AMP our (2ND FF) INVENTOR.

JOHN s. MoRREL ET AL. BY

ATTORNEY Aprll 27, 1965 J. s. MORREI. ETAL COLLIS ION AVOIDANCE SYSTEM 55 Sheets-Sheet 13 Filed Nov. 18. 1960 bkk@ o INVENT OR MP4@ uhm? 2@ NN vm NN M NN N NN NN m w m Tm? zaza u .Emma .53s.

vv NN we. NN N: wv ww ww wtm Nw XOOJO .JOHN s. MoRREL ET AL.

a ATTORNEY 55 Sheets-Sheet 14 Filed Nov. 1s. 1960 -I'- TOT-Tala FIGJI Nm. @Ilot L ||.||||I| Illlllll III I Il l |||||I||||| I l ..4 .940.2 Y 5 m A www m m J n E .A w .Jh .LS n. m H N M 3 N I R WU R N h F m m.. n Hm. DU E ws w A MM WM F l f 5 .M Q G. uw i m A m 3 n L L- llLllmmrllliL- l .i LLL- Ii.

April 27, 1965 Filed Nov. 18. 1960 J. S. MORREL ETAL COLLISION AVOIDANCE SYSTEM 55 Sheets-Sheet 15 KTO FIG. II To FIG. II2A i l L l I BUFFER WRITE *'PITS *NOR'TJS WURTI i BUFFER READ l. l NUMBER BUS I DUTRUT r I I READ SELECTED SELECTED j I wRITE I OUTPUT READ READ I I f CLEAR WRITE l BUFFER WRITE l BUFFER END ENTRY BUFFER CLEAR STAGE CLEAR STAGE I-* STAGE w .I DATA :a SOD @i l N BUFFERa/ERFLDW O6 n H07 ENTRY "O8 4 I a DATA I= g l IIL lf2 FIGJIB FIGIIB FIG IIB II "B" T I I vf I I SELECT I SHIFT Y i TIME m SI-IIFTMEXT) I SHIFT S(EXT) L5 l I- L FIG .Il I L i INVENToRs- `1oI-INs.I\/I0RREL ETAL Il E BY .T O-F T4.;

April 27, 1965 J. S. MORREL ETAL COLLIS ION AVOIDANCE SYSTEM Filed Nov. 18. 1960 To HG. u,

NO BUS n, INPUT I SELECTED ourPuT l READ WRITE wFFEQ I CLEAR SI'PGE 1L l END SELECTED EN TRY DATA | l Fleuc FIG-H2 55 Sheets-Sheet 16 INVENTORS JOHN S. MORREL ET AL ATIORNEY April2`7, 1965 J.s.MoRREL' ETAL 3,181,144

COLLIS ION AVOIDANCE SYSTEM Filed Nov. 18. 1960 55 Sheets-Sheet 17 TO NOR 7 ON CYCLE COUNTER INVENTORS JOHN S. MORREL ET AL BY ATTORNEY J. s. MoRREl. -ETAL 3,181,144

COLLISION AVOIDANCE SYSTEM April 21, 1965 55 Sheets-Sheet 18 Filed New. 1s. 1960 .PDnZ- 4.56

.5&2. 5.40 .5&2. had

INVEVTOR.

JOHN S. MORREL ET AL.

ATTORNEY Aprll 27, 1965 J. s. MORREL. ETAL COLLISION AVOIDANGE SYSTEM 55 Sheets-Sheet 1S Filed NOV. 18. 1960 &5

INVENTOR.

JOHN s. MoRREL ETAL.

ATTORNEY )Emea @Q MP4@ what,

April 27, 1965 J. s. MORREL ETAL COLLISION AVOIDANCE SYSTEM 55 Sheets-Sheet 20 Filed Nov. 18. 1960 -I IL-- 

1. THE METHOD OF AVOIDING COLLISION BETWEEN CRAFT HAVING RELATIVE MOTION IN A REFERENCE PLANE COMPRISING THE STEPS OF TRANSMITTING ALTITUDE SIGNALS BY EACH CRAFT IN SAID REFERENCE PLANE FOR THE PRELIMINARY EVALUATION OF COLLISON THREAT AND FOR THE DETERMINATION OF THE RANGE BETWEEN SAID CRAFT WITHOUT TRANSPONDING ACTION, PROVIDING IDENTIFYING CHARACTERISTICS INDIVIDUAL TO THE TRANSMISSION FROM EACH CRAFT, USING ON EACH CRAFT SAID IDENTIFYING CHARACTERISTICS FOR SORTING AND SEPARATELY STORING RANGE VALUES PERTAINING TO A PLURALITY OF SAID CRAFT, UTILIZING SUCCESSIVE STORED RANGE VALUES FOR A PARTICULAR CRAFT FOR EVALUATING THE THREAT OF COLLISION WITH THE CRAFT, UPDATING SAID STORED VALUES AS SUBSEQUENT RANGES ARE DETERMINED TO THE RESPECTIVE CRAFT, INITIATING A MANEUVER ALARM WHENEVER THE EVALUATION OF COLLISON THREAT MEETS FIRST PREDETERMINED CONDITIONS AND DISCARDING THE STORED VALUES FOR ANY PARTICULAR AIRCFRAT WHEN THE EVALUATION THEREOF MEETS OTHER PREDETERMINED CONDITIONS. 